117 Bilateral driver model for steer-by-wire controller design - the effects of steering characteristic on lane-change maneuver

摘要

This paper proposes a new bilateral driver model, which simultaneously takes the steering wheel angle and the driver torque into account, and a new simulation method, which describes a driver-vehicle system as a simultaneous linear equation system. With this bilateral driver model and the new simulation method, a vehicle equipped with both steering angle controller and steering torque controller can be simulated and primitively assessed. By computer simulations and experiments using a driving simulator, it is confirmed that the bilateral driver model can reasonably represent the behavior of the human driver. In addition, we found that the vehicle stability can be improved by decreasing steering angle gain and/or increasing steering torque gain, and the handling feelings of two different vehicles are equivalent if the slopes between the steering torque and the steering wheel angle of the vehicles are equal.